Colonial Competitive Optimization Sliding Mode Controller with Application to Robot Manipulator
Автор: Amin Jalali, Farzin Piltan, Maziyar Keshtgar, Meysam Jalali
Журнал: International Journal of Intelligent Systems and Applications(IJISA) @ijisa
Статья в выпуске: 7 vol.5, 2013 года.
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One of the best nonlinear robust controllers which can be used in uncertain nonlinear systems is sliding mode controller (SMC), but pure SMC results in chattering in a noisy environment. This effect can be eliminated by optimizing the sliding surface slope. This paper investigates a novel methodology in designing a SMC by a new heuristic search, so called "colonial competitive algorithm "in order to tune the sliding surface slope and the switching gain of the discontinuous part in SMC structure. This process decreases the integral of absolute errors which results in tracking the desired inputs by the outputs in designing a controller for robot manipulator. Simulation results prove that the optimized performance obtained through CCA significantly reduces the chattering phenomena and results in better trajectory tracking compared to typical trial and error methods.
Uncertain Nonlinear Systems, Evolutionary Algorithm, Classical Control, Sliding Mode Controller, Robot Manipulator, Colonial Competitive Algorithm, Optimization
Короткий адрес: https://sciup.org/15010443
IDR: 15010443
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